Cleanup test_count_matched test to handle non-DDS RMWs #1164
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This allows us to pass fewer parameters into each each invocation, and allows us to hide some more of the implementation inside the class. Signed-off-by: Chris Lalancette <[email protected]>
It just better reflects what these structures are. Signed-off-by: Chris Lalancette <[email protected]>
This just ensures that they are always cleaned up, even if we exit early. Note that we specifically do *not* use it for test_count_matched_functions, since the cleanup is intentionally interleaved with other tests. Signed-off-by: Chris Lalancette <[email protected]>
Some RMWs may have different compatibility than DDS, so check with the RMW layer to see what we should expect for the number of publishers and subscriptions. Signed-off-by: Chris Lalancette <[email protected]>
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CI:
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ahcorde
approved these changes
Jun 28, 2024
Signed-off-by: Chris Lalancette <[email protected]>
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New CI after changes from review:
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fujitatomoya
approved these changes
Jun 28, 2024
Yadunund
approved these changes
Jun 28, 2024
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The main goal of this PR is to update the test_count_matched test so that it handles non-DDS RMWs. Along the way, it also does some cleanup in the test. The patches are:
check_stateis a protected class method, rather than a free function. That way it can use more of the internal details of the class, which it depends on anyway.rmw_zenohwill happily match BEST_EFFORT publishers to RELIABLE subscriptions, while the DDS RMWs will not. Luckily, we have the function calledrmw_qos_profile_check_compatiblethat we can call to tell whether the underlying RMW would match them, so we can use that here.